Hitachi, Ltd.

Hitachi Keiyo Engineering Co., Ltd.

Koichi Sugimoto

Hisaaki Hirabayashi

Shinichi Arai

Michinaga Kohno

Yasuo Nakagawa

Toshihiko Sakai

Yoshio Matsumoto

Toyohide Hamada

Shiyuki Sakaue

Hidetoshi Inaba

Kiyohide Koizumi

Masahito Uno

Ichiro Taniguchi

Tomoyuki Masui

Hiroshi Kikuchi

Masahiro Watanabe

Hideaki Suzuki

Hideki Hayashi

Hiroyuki Tanaka

Aizo Kaneda

Kenji Maeda

Kazuo Yamaguchi

Hiroshi Hasegawa

Toshimitsu Hamada

Hisafumi Iwata

Takamichi Suzuki

Tsutomu Mimata

Kyozo Tachibana

Norihisa Miyake

Hiroshi Sugai

Hisashi Onari

Hisakazu Ninomiya

Mitsukiyo Tani

Hideaki Matoba

Kichie Matsuzaki

Tomoaki Sakata

Masatoshi Kawashima

Michio Takahashi

Tositada Netsu

Takeshi Yano

Toru Mita

Tsutomu Sato

Koki Tsutsumida

Masaki Sumita

Tosaku Kojima

Katuhisa Tanaka

Tooru Mita

Masayuki Ichinohe

Kenichi Tada

Kaoru Imai

Genji Itoh

Kouichiro Ohara

Atsuko Hara

Eri Koshishiba

Masao Miki

Tsugio Sekine

Kouji Serizawa

Keizo Matsukawa

A semiconductor device is designed to facilitate analyzing a position and a cause of the failure of an integrated circuit adopting a polyphase clock. To this end, the semiconductor device is provided with an error detecting unit that detects that a problem of the operation occurs in the integrated circuit, a clock state holding unit that holds the information of phases in a predetermined term of a two- or more-phase clock and an output unit that outputs the information of the phases in the predetermined term of the two- or more-phase clock when the error detecting unit detects that the problem of the operation occurs in the integrated circuit.

Semiconductor device

A robot for removing an unnecessary portion on a workpiece, comprises a tool for removing the unnecessary portion, a tool positioning apparatus which contains a reference coordinate system, carries the tool attached thereon, and is movable to change a position and a posture of the tool in the reference coordinate system, a jig on which the workpiece is securely fixed to maintain a desired position and a desired posture of the workpiece with respect to the reference coordinate system of the tool positioning apparatus, and an arithmetic unit for calculating a movement path and a posture of the tool moved by the tool positioning apparatus on the basis of a position of the unnecessary portion on a desired shape of the workpiece, in which the arithmetic unit corrects the movement path and the posture of the tool not in accordance with the position of the unnecessary portion on the desired shape of the workpiece, but in accordance with a shape of at least one of the workpiece, the tool and the jig.

Robot for removing unnecessary portion on workpiece

The present invention relates to a manufacturing system which accepts a custom order of product from a customer and custom manufactures a product without sacrificing manufacturing efficiency. The manufacturing system includes the featuring steps of inputting the required specification of a product, creating the product design based on the design information of the product transmitted from a designing department, status data from the production department, and the input required specification, showing the created product design to the customer, selectively indicating a product to be purchased, transmitting the specification of the selected product to the production department, and producing a product based on the selected product specification.

Custom-made manufacturing system and custom-made manufacturing method

In a method for scraping off automatically an excessive portion of a workpiece by a cutting tool, a surface shape of the excessive portion of the workpiece is measured, a cross-sectional area variation of the excessive portion along a feed course in which the cutting tool will proceed during a cutting operation thereof is calculated from the measured surface shape of the excessive portion, and the excessive portion is scraped off in the feed course with a feed speed of the cutting tool which is changed in accordance with the calculated cross-sectional area variation of the excessive portion along the feed course, so that the larger the calculated cross-sectional area of the excessive portion is, the smaller the feed speed of the cutting tool is, and the smaller the calculated cross-sectional area of the excessive portion is, the larger the feed speed of the cutting tool is.

Method for scraping off excessive portion of workpiece

A six-degree-of-freedom articulated robot mechanism includes a three-degree-of-freedom translation unit for adjusting the position. The translation unit includes an orientation maintaining mechanism which has a rotation articulation of the direct drive type connecting a drive motor directly to an arm, and a link mechanism. A three-degree-of-freedom rotation unit for adjusting the orientation includes three rotation articulators of the direct drive type connecting a drive motor directly to a table, and the axes of the three rotation articulators intersect one another at one point.

Six-degree-of-freedom articulated robot mechanism and assembling and

A method of controlling the movements of a robot having a plurality of degrees of freedom includes expressing the attitudes of a hand or a working tool fitted to the arm end of the robot, the by the use of base vectors of a rectangular coordinate system fixed to the hand or the working tool. The attitudes are given as coordinate components related to a rectangular coordinate system which is fixed to the pedestal of the robot and which serves as reference. Interpolation and movement control of the robot is performed on the basis of the coordinate components. By performing control, based on the coordinate components real-time calculation processings is reduced highly accurate robot movement which is smooth in terms of both time and space is accomplished.

Method of controlling robot movements

The present invention relates to a multi-pin chip mounting method and apparatus based on a TAB (Tape Automated Bonding) system in which leads formed on a tape and bumps formed an IC chip are aligned with each other and compress-bonded to each other. An IC chip having bumps formed on a surface thereof and inner leads formed on a carrier tape are disposed opposite to each other at a bonding station. A position of the IC chip on a stage is detected through the inner leads at the bonding station to determine the amount of correction of position of the stage. The inner leads and the IC chip are aligned with each other on the basis of the determined correction amount and are thereafter bonded to each other.

Method of aligning and bonding tab inner leads

A probing control apparatus for use in aligning an object comprises: a mechanism having n-degrees of freedom and adapted for controlling the object; n pieces of actuators for actuating the mechanism; detecting means for detecting change in the output from the object in response to the operation of each actuator; and control means for computing a command for each actuator in accordance with a change in the output detected by the detecting means and amount of movement of the mechanism, and for controlling each actuator in accordance with the command such that the output from the object takes the maximum value.

Probing control method and apparatus for mechanism with multiple degrees

The invention relates to joining of fine wires, and more particularly to a wire bonding method suitable for connecting a number of wires within a narrow area. A first wire is bonded on a pad, and a second wire is bonded on the position where the first wire has been bonded. Bonding of a subsequent wire is performed in that the wire is stacked and bonded in similar manner mentioned above. Thus a plurality of repair wires can be bonded within one pad even if the pad area is very small.

Wire stacked bonding method

The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.

Position correcting control system for servomechanism device

There is disclosed in this application an industrial robot comprising: a first arm pivotally supported at its one end for rotation around a first axis; a second arm pivotally supported at its one end by the other end of the first arm for rotation around a second axis parallel to the first axis; a wrist mechanism carried by the free end of the second arm and having at least one degree of freedom; and driving motors for driving the first arm, the second arm and the wrist mechanism, respectively; wherein at least one of the first arm and the second arm is connected to the drive motor through a double link mechanism having a phase difference.

Industrial robot

The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.

Method and apparatus for calibrating transformation matrix of force

Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.

Method and apparatus for controlling a robot utilizing force, position,

A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.

Method and apparatus for controlling a robot hand along a predetermined

A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.

Velocity method of controlling industrial robot actuators

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Hiratsuka, Japan

Koichi Sugimoto